Merge pull request RobotWebTools#25 from rctoris/devel

Scale fix and Grunt started

.gitignore

@@ -1,3 +1,5 @@
 .project
 .settings
 .svn
+node_modules
+.vagrant

.travis.yml

@@ -0,0 +1,12 @@
+language: node_js
+node_js:
+  - "0.10"
+
+before_script:
+  - npm install -g karma grunt-cli
+  - cd utils
+  - npm install .
+
+script:
+  - grunt build
+

AUTHORS.md

@@ -0,0 +1,16 @@
+Original Authors
+----------------
+
+ * [Russell Toris](http://users.wpi.edu/~rctoris/) (rctoris@wpi.edu)
+ * Jihoon Lee (jihoonlee.in@gmail.com)
+ * David Gossow (dgossow@willowgarage.com)
+
+Contributors
+------------
+
+ * Brandon Alexander (balexander@willowgarage.com)
+ * Sarah Osentoski (sarah.osentoski@us.bosch.com)
+ * Benjamin Pitzer (ben.pitzer@gmail.com)
+ * Xueqiao Xu (xueqiaoxu@gmail.com)
+ * Mr.doob - (http://mrdoob.com)
+ * AlteredQualia - (http://alteredqualia.com)

CHANGELOG.md

@@ -0,0 +1,24 @@
+DEVEL - **r4**
+ * Initial pose now set in SceneNode [(rctoris)](https://github.com/rctoris/)
+ * Texture method for OccupancyGrid changed to canvas to allow for very large maps [(rctoris)](https://github.com/rctoris/)
+ * OccupancyGrid origin now in corner instead of center of image [(rctoris)](https://github.com/rctoris/)
+ * Optional TF client added to occupancy grid client [(rctoris)](https://github.com/rctoris/)
+ * Interactive markers now removed correctly [(rctoris)](https://github.com/rctoris/)
+ * Viewer now takes an optional initial camera position [(rctoris)](https://github.com/rctoris/)
+ * Orbit controls fixed to prevent flicker during camera pan [(rctoris)](https://github.com/rctoris/)
+ * Scale (units) now work in Collada files [(rctoris)](https://github.com/rctoris/)
+
+2013-04-03 - **r3**
+ * ColladaLoader2 added as third-party module [(rctoris)](https://github.com/rctoris/)
+ * ColladaLoader2 replaces THREE.ColladaLoader [(rctoris)](https://github.com/rctoris/)
+ * Viewer now takes an option intensity for the lighting [(rctoris)](https://github.com/rctoris/)
+
+2013-04-03 - **r2**
+ * Examples now use CDN version of DAE files [(rctoris)](https://github.com/rctoris/)
+ * Maps module added with OccupancyGrid and client [(rctoris)](https://github.com/rctoris/)
+ * SceneNode now takes an optional pose [(rctoris)](https://github.com/rctoris/)
+ * Bugfix in InteractiveMarkerClient path option [(rctoris)](https://github.com/rctoris/)
+ * Bugfix in interactive marker feedback [(rctoris)](https://github.com/rctoris/)
+
+2013-03-17 - **r1**
+ * Initial development of ROS3D [(rctoris)](https://github.com/rctoris/)

README.md

@@ -26,7 +26,7 @@ The current supported version can be found [in this project](include/threejs/thr
 [ColladaLoader2](https://github.com/crobi/ColladaAnimationCompress). The current supported version is 0.0.1.
 The current supported version can be found [in this project](include/ColladaAnimationCompress/ColladaLoader2.js) or on the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/ColladaAnimationCompress/0.0.1/ColladaLoader2.js)) | ([min](http://cdn.robotwebtools.org/ColladaAnimationCompress/0.0.1/ColladaLoader2.min.js)).
 
-[roslibjs](https://github.com/RobotWebTools/roslibjs). The current supported version is r4.
+[roslibjs](https://github.com/RobotWebTools/roslibjs). The current supported version is r5.
 The current supported version can be found [in this project](include/roslibjs/roslib.js) or on the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/roslibjs/r4/roslib.js)) | ([min](http://cdn.robotwebtools.org/roslibjs/r4/roslib.min.js)).
 
 ### Build ###
@@ -45,5 +45,5 @@ To run the build script, use the following:
 ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
 
 ### Authors ###
-See the [AUTHORS](AUTHORS) file for a full list of contributors.
+See the [AUTHORS.md](AUTHORS) file for a full list of contributors.
 

build/ros3d.js

@@ -1777,6 +1777,11 @@ ROS3D.MeshResource = function(options) {
       }
     };
     loader.load(uri, function colladaReady(collada) {
+      // check for a scale factor
+      if(collada.dae.asset.unit) {
+        var scale = collada.dae.asset.unit;
+        collada.scene.scale = new THREE.Vector3(scale, scale, scale);
+      }
       that.add(collada.scene);
     });
   }

src/models/MeshResource.js

@@ -39,6 +39,11 @@ ROS3D.MeshResource = function(options) {
       }
     };
     loader.load(uri, function colladaReady(collada) {
+      // check for a scale factor
+      if(collada.dae.asset.unit) {
+        var scale = collada.dae.asset.unit;
+        collada.scene.scale = new THREE.Vector3(scale, scale, scale);
+      }
       that.add(collada.scene);
     });
   }

utils/.jshintrc

@@ -0,0 +1,27 @@
+{
+  "globals": {
+    "module": true,
+    "EventEmitter2" : true,
+    "ROSLIBJS" : true,
+    "THREE" : true
+  },
+  "curly": true,
+  "eqeqeq": true,
+  "immed": true,
+  "latedef": false,
+  "newcap": true,
+  "noarg": true,
+  "sub": true,
+  "undef": true,
+  "boss": false,
+  "eqnull": false,
+  "browser": true,
+  "devel": true,
+  "es5": true,
+  "strict": false,
+  "trailing": true,
+  "quotmark": "single",
+  "proto": true,
+  "laxbreak": true
+}
+

utils/Gruntfile.js

@@ -0,0 +1,92 @@
+module.exports = function(grunt) {
+
+  grunt.initConfig({
+    pkg: grunt.file.readJSON('package.json'),
+    concat: {
+      build: {
+        src  : ['../src/Rod3D.js', '../src/**/*.js'],
+        dest : '../build/ros3d.js'
+      }
+    },
+    jshint: {
+      options: {
+        jshintrc: '.jshintrc'
+      },
+      files: [
+        'Gruntfile.js',
+        '../build/ros3d.js'
+      ]
+    },
+    karma: {
+      build: {
+        configFile: '../test/karma.conf.js',
+        singleRun: true,
+        browsers: ['PhantomJS']
+      }
+    },
+    uglify: {
+      options: {
+        report: 'min'
+      },
+      build: {
+        src: '../build/ros3d.js',
+        dest: '../build/ros3d.min.js'
+      }
+    },
+    watch: {
+      dev: {
+        options: {
+          interrupt: true
+        },
+        files: [
+          '../src/Ros3D.js',
+          '../src/**/*.js'
+        ],
+        tasks: ['concat']
+      },
+      build_and_watch: {
+        options: {
+          interrupt: true
+        },
+        files: [
+          'Gruntfile.js',
+          '.jshintrc',
+          '../src/Ros3D.js',
+          '../src/**/*.js'
+        ],
+        tasks: ['build']
+      }
+    },
+    clean: {
+      options: {
+        force: true
+      },
+      doc: ['../doc']
+    },
+    jsdoc: {
+      doc: {
+        src: [
+          '../src/Ros3D.js',
+          '../src/**/*.js'
+        ],
+        options: {
+          destination: '../doc'
+        }
+      }
+    }
+  });
+
+  grunt.loadNpmTasks('grunt-contrib-concat');
+  grunt.loadNpmTasks('grunt-contrib-jshint');
+  grunt.loadNpmTasks('grunt-contrib-watch');
+  grunt.loadNpmTasks('grunt-contrib-uglify');
+  grunt.loadNpmTasks('grunt-contrib-clean');
+  grunt.loadNpmTasks('grunt-jsdoc');
+  grunt.loadNpmTasks('grunt-karma');
+
+  grunt.registerTask('dev', ['concat', 'watch']);
+  grunt.registerTask('build', ['concat', 'jshint', 'karma', 'uglify']);
+  grunt.registerTask('build_and_watch', ['watch']);
+  grunt.registerTask('doc', ['clean', 'jsdoc']);
+};
+

utils/README.md

@@ -0,0 +1,54 @@
+ros3djs Build Setup
+====================
+
+[Grunt](http://gruntjs.com/) is used for building, including concatenating,
+minimizing, documenting, linting, and testing.
+
+### Install Grunt and its Dependencies
+
+#### Ubuntu
+
+ 1. Install Node.js and its package manager, NPM
+   * `sudo apt-get install python-software-properties`
+   * `sudo add-apt-repository ppa:chris-lea/node.js`
+   * `sudo apt-get update && sudo apt-get install nodejs phantomjs`
+ 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/)
+   * `sudo npm install -g grunt-cli karma`
+   * `sudo rm -rf ~/.npm ~/tmp`
+ 3. Install the Grunt tasks specific to this project
+   * `cd /path/to/ros3djs/utils/`
+   * `npm install .`
+ 4. (Optional) To generate the documentation, you'll need to setup Java. Documentation generation is not required for patches.
+   * `echo "export JAVA_HOME=/usr/lib/jvm/default-java/jre" >> ~/.bashrc`
+   * `source ~/.bashrc`
+
+#### OS X
+
+ 1. Install Node.js and its package manager, NPM
+   * Go to [Node.js Downloads](http://nodejs.org/download/)
+   * Download and install the Universal pkg file.
+ 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/)
+   * `sudo npm install -g grunt-cli karma`
+ 3. Install the Grunt tasks specific to this project
+   * `cd /path/to/ros3djs/utils/`
+   * `npm install .`
+
+### Build with Grunt
+
+Before proceeding, please confirm you have installed the dependencies above.
+
+To run the build tasks:
+
+ 1. `cd /path/to/ros3djs/utils/`
+ 2. `grunt build`
+
+`grunt build` will concatenate and minimize the files under src and replace
+ros3d.js and ros3d.min.js in the build directory. It will also run the linter
+and test cases. This is what [Travis
+CI](https://travis-ci.org/RobotWebTools/ros3djs) runs when a Pull Request is
+submitted.
+
+`grunt dev` will watch for any changes to any of the src/ files and
+automatically concatenate and minimize the files. This is ideal for those
+developing as you should only have to run `grunt dev` once.
+

utils/package.json

@@ -0,0 +1,13 @@
+{
+  "name": "ros3djs",
+  "devDependencies": {
+    "grunt": "~0.4.1",
+    "grunt-contrib-concat": "~0.1.3",
+    "grunt-contrib-jshint": "~0.1.1",
+    "grunt-karma": "~0.3.0",
+    "grunt-contrib-watch": "~0.3.1",
+    "grunt-contrib-uglify": "~0.2.0",
+    "grunt-jsdoc": "~0.3.0",
+    "grunt-contrib-clean": "~0.4.0"
+  }
+}